version: 66.07.10.p01
glider: 573
mission: 12
dive: 104
start: 8 17 115 8 52 31
data:
$ID,573
$MISSION,12
$DIVE,104
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,390
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53040
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21335.193
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3184
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,1950
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.994217
$PRESSURE_SLOPE,0.00011693723
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,163
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,103
$GPS1,170815,084457,-4503.193,625.018,62,0.8,62,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-65.9
$GPS2,170815,085211,-4503.218,625.095,14,1.2,14,-24.4
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,249.1,2036,-27.7,-8.547
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.09,-49.9,0.0,0.0,0,52,0.00,0.00,-26.55,0.000,2,0.000,0.000,69,2065,1671,0,0,0,0,0,0
$GC,54,-1.13,-112.1,3.1,-1.4,4,106,11.35,2.33,-30.52,0.000,4,0.253,0.073,2806,3465,2409,0,0,0,0,0,0
$GC,376,-1.06,-112.1,54.4,-17.4,57,383,0.10,2.22,0.00,0.000,6,0.174,0.042,2836,2066,2411,0,0,0,0,0,0
$GC,725,-1.06,-112.1,112.8,-17.5,112,729,0.00,2.25,0.00,0.000,4,0.000,0.055,2826,3474,2411,0,0,0,0,0,0
$GC,779,-1.06,-112.1,122.8,-17.9,116,787,0.00,2.22,0.00,0.000,6,0.000,0.041,2826,2062,2411,0,0,0,0,0,0
$GC,1105,-1.06,-112.1,177.5,-16.3,147,1109,0.05,2.25,0.00,0.000,4,0.243,0.054,2838,652,2411,0,0,0,0,0,0
$GC,1181,-1.06,-112.1,190.4,-15.6,153,1187,0.00,2.22,0.00,0.000,6,0.000,0.042,2830,2055,2411,0,0,0,0,0,0
$GC,1507,-1.06,-112.1,240.7,-14.9,184,1511,0.00,2.25,0.00,0.000,4,0.000,0.060,2819,3474,2412,0,0,0,0,0,0
$GC,1549,-1.06,-112.1,247.5,-15.1,187,1556,0.05,2.22,0.00,0.000,6,0.174,0.041,2834,2056,2412,0,0,0,0,0,0
$GC,1875,-1.06,-112.1,293.8,-14.2,218,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2056,2413,0,0,0,0,0,0
$GC,2194,-1.06,-112.1,338.9,-14.1,248,2198,0.00,2.28,0.00,0.000,4,0.000,0.060,2825,3472,2413,0,0,0,0,0,0
$GC,2267,-1.06,-112.1,349.6,-14.5,254,2272,0.08,2.17,0.00,0.000,6,0.207,0.042,2841,2060,2413,0,0,0,0,0,0
$GC,2592,-1.09,-112.1,395.3,-14.0,284,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2060,2413,0,0,0,0,0,0
$GC,2903,-1.12,-112.1,439.4,-14.6,301,2907,0.05,2.28,0.00,0.000,4,0.168,0.060,2800,3474,2413,0,0,0,0,0,0
$GC,2928,-1.12,-112.1,444.0,-16.5,302,2934,0.05,2.20,0.00,0.000,6,0.168,0.041,2816,2063,2413,0,0,0,0,0,0
$GC,3250,-1.12,-112.1,495.9,-15.9,318,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2063,2413,0,0,0,0,0,0
$GC,3559,-1.12,-112.1,542.9,-14.8,333,3563,0.00,2.25,0.00,0.000,4,0.000,0.058,2807,3474,2413,0,0,0,0,0,0
$GC,3601,-1.12,-112.1,549.9,-15.9,335,3607,0.00,2.20,0.00,0.000,6,0.000,0.042,2807,2058,2413,0,0,0,0,0,0
$GC,3929,-1.12,-112.1,599.5,-15.0,351,3931,0.03,0.00,0.00,0.000,6,0.276,0.000,2815,2059,2413,0,0,0,0,0,0
$GC,4238,-1.12,-112.1,644.0,-13.7,366,4243,0.00,2.28,0.00,0.000,4,0.000,0.061,2806,3476,2413,0,0,0,0,0,0
$GC,4278,-1.12,-112.1,649.7,-14.9,368,4282,0.05,2.17,0.00,0.000,6,0.223,0.042,2817,2060,2413,0,0,0,0,0,0
$GC,4604,-1.12,-112.1,693.9,-13.5,384,4608,0.00,2.25,0.00,0.000,4,0.000,0.060,2808,3472,2412,0,0,0,0,0,0
$GC,4669,-1.12,-112.1,703.3,-14.2,387,4674,0.00,2.20,0.00,0.000,6,0.000,0.042,2808,2061,2413,0,0,0,0,0,0
$GC,4997,-1.12,-112.1,749.2,-14.4,403,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2061,2412,0,0,0,0,0,0
$GC,5306,-1.12,-112.1,792.0,-13.4,418,5310,0.00,2.25,0.00,0.000,4,0.000,0.059,2799,3470,2412,0,0,0,0,0,0
$GC,5332,-1.12,-112.1,795.9,-13.8,419,5338,0.05,2.20,0.00,0.000,6,0.176,0.042,2814,2061,2412,0,0,0,0,0,0
$GC,5654,-1.12,-112.1,838.2,-13.4,435,5658,0.00,2.25,0.00,0.000,4,0.000,0.059,2805,3470,2412,0,0,0,0,0,0
$GC,5702,-1.12,-112.1,845.2,-14.1,437,5707,0.03,2.20,0.00,0.000,6,0.203,0.043,2813,2059,2412,0,0,0,0,0,0
$GC,6024,-1.12,-112.1,886.6,-12.8,453,6028,0.00,2.25,0.00,0.000,4,0.000,0.061,2805,3465,2411,0,0,0,0,0,0
$GC,6055,-1.12,-112.1,891.1,-13.8,454,6062,0.03,2.20,0.00,0.000,6,0.199,0.041,2813,2053,2411,0,0,0,0,0,0
$GC,6371,-1.12,-112.1,932.0,-13.1,470,6376,0.00,2.28,0.00,0.000,4,0.000,0.060,2804,3475,2411,0,0,0,0,0,0
$GC,6459,-1.12,-112.1,944.1,-13.4,474,6465,0.03,2.20,0.00,0.000,6,0.200,0.044,2813,2065,2411,0,0,0,0,0,0
$GC,6787,-1.12,-112.1,986.6,-12.6,490,6791,0.00,2.25,0.00,0.000,4,0.000,0.059,2804,3476,2411,0,0,0,0,0,0
$GC,6818,-1.12,-112.1,991.0,-13.8,491,6825,0.03,2.20,0.00,0.000,6,0.197,0.042,2812,2062,2410,0,0,0,0,0,0
$STATE,6906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6907,begin apogee
$GC,6911,-0.19,0.0,1002.4,13.0,496,7018,1.02,0.00,103.03,1.292,6,0.171,0.000,3119,1587,1950,0,0,0,0,0,0
$STATE,7019,end apogee,CONTROL_FINISHED_OK
$STATE,7019,begin climb
$GC,7020,1.13,112.1,1006.2,0.0,501,7136,1.27,2.45,107.10,1.252,4,0.092,0.051,3550,199,1490,0,0,0,0,0,0
$GC,7168,1.13,112.1,992.6,15.1,508,7174,0.00,2.38,0.00,0.000,6,0.000,0.035,3550,1608,1486,0,0,0,0,0,0
$GC,7496,1.13,112.1,946.5,14.1,524,7500,0.00,2.35,0.00,0.000,4,0.000,0.049,3559,192,1482,0,0,0,0,0,0
$GC,7517,1.13,112.1,943.2,14.8,525,7522,0.00,2.28,0.00,0.000,6,0.000,0.034,3559,1601,1481,0,0,0,0,0,0
$GC,7845,1.13,112.1,895.8,14.5,541,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1601,1481,0,0,0,0,0,0
$GC,8154,1.13,112.1,850.7,14.4,556,8155,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,1601,1480,0,0,0,0,0,0
$GC,8463,1.13,112.1,806.9,14.0,571,8467,0.00,2.28,0.00,0.000,4,0.000,0.050,3569,195,1480,0,0,0,0,0,0
$GC,8484,1.13,112.1,803.7,14.3,572,8490,0.05,2.22,0.00,0.000,6,0.180,0.034,3553,1607,1479,0,0,0,0,0,0
$GC,8812,1.16,112.1,760.0,13.4,588,8816,0.00,2.28,0.00,0.000,4,0.000,0.049,3562,189,1479,0,0,0,0,0,0
$GC,8838,1.16,112.1,755.9,14.5,589,8844,0.00,2.22,0.00,0.000,6,0.000,0.034,3562,1602,1478,0,0,0,0,0,0
$GC,9160,1.16,112.1,711.8,13.5,605,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1602,1478,0,0,0,0,0,0
$GC,9470,1.16,112.1,668.6,14.1,620,9474,0.00,2.28,0.00,0.000,4,0.000,0.049,3571,185,1478,0,0,0,0,0,0
$GC,9490,1.16,112.1,665.4,14.1,621,9496,0.03,2.22,0.00,0.000,6,0.199,0.033,3563,1613,1478,0,0,0,0,0,0
$GC,9818,1.16,112.1,619.1,14.7,637,9822,0.00,2.28,0.00,0.000,4,0.000,0.049,3572,190,1478,0,0,0,0,0,0
$GC,9849,1.16,112.1,614.0,15.4,638,9856,0.03,2.20,0.00,0.000,6,0.197,0.034,3563,1599,1478,0,0,0,0,0,0
$GC,10166,1.16,112.1,566.9,15.1,654,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1599,1478,0,0,0,0,0,0
$GC,10475,1.16,112.1,522.1,14.2,669,10476,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1599,1478,0,0,0,0,0,0
$GC,10784,1.16,112.1,478.5,14.2,684,10788,0.00,2.25,0.00,0.000,4,0.000,0.050,3573,186,1478,0,0,0,0,0,0
$GC,10839,1.16,112.1,470.2,15.1,686,10846,0.05,2.20,0.00,0.000,6,0.177,0.034,3557,1602,1477,0,0,0,0,0,0
$GC,11155,1.20,112.1,428.7,12.5,702,11157,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1602,1478,0,0,0,0,0,0
$GC,11467,1.24,112.1,390.3,12.2,720,11471,0.08,2.25,0.00,0.000,4,0.126,0.050,3607,185,1477,0,0,0,0,0,0
$GC,11545,1.15,112.1,378.8,15.1,726,11551,0.20,2.17,0.00,0.000,6,0.181,0.034,3553,1612,1477,0,0,0,0,0,0
$GC,11873,1.20,112.1,338.5,12.4,757,11877,0.00,2.25,0.00,0.000,4,0.000,0.050,3563,193,1477,0,0,0,0,0,0
$GC,11938,1.20,112.1,329.3,12.8,762,11945,0.00,2.17,0.00,0.000,6,0.000,0.033,3562,1596,1477,0,0,0,0,0,0
$GC,12266,1.20,112.1,289.6,12.0,793,12267,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1596,1476,0,0,0,0,0,0
$GC,12583,1.23,112.1,250.0,12.6,823,12585,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1596,1477,0,0,0,0,0,0
$GC,12904,1.27,112.1,210.7,12.2,853,12906,0.10,0.00,0.00,0.000,6,0.099,0.000,3611,1596,1477,0,0,0,0,0,0
$GC,13221,1.21,112.1,168.5,12.7,883,13225,0.12,2.22,0.00,0.000,4,0.196,0.049,3590,190,1477,0,0,0,0,0,0
$GC,13275,1.17,112.1,161.0,13.7,887,13282,0.08,2.17,0.00,0.000,6,0.179,0.034,3566,1598,1476,0,0,0,0,0,0
$GC,13601,1.20,112.1,122.8,12.6,918,13605,0.00,2.22,0.00,0.000,4,0.000,0.048,3575,192,1477,0,0,0,0,0,0
$GC,13677,1.20,112.1,112.2,12.5,924,13686,0.00,2.17,0.00,0.000,6,0.000,0.033,3575,1602,1476,0,0,0,0,0,0
$GC,14022,1.20,112.1,64.5,15.2,976,14027,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1602,1477,0,0,0,0,0,0
$GC,14384,1.20,112.1,13.8,11.7,1037,14392,0.00,2.17,0.00,0.000,4,0.000,0.050,3575,2986,1476,0,0,0,0,0,0
$STATE,14496,end climb,SURFACE_DEPTH_REACHED
$STATE,14496,begin surface coast
$FINISH,1.5,1.023380
$STATE,14535,end surface coast,CONTROL_FINISHED_OK
$STATE,14535,begin surface
$SM_CCo,14552,41.30,0.060,0,0,1133,200.16
$SM_GC,3.69,0.00,0.00,41.30,0.000,0.000,0.060,72,2040,1133,-9.73,-0.57,200.16
$IRIDIUM_FIX,-4450.47,413.85,120608,171704
$TT8_MAMPS,0.026964
$HUMID,62.44
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,23.4,16.808
$10V_AH,10.1,14.978
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.225,116.400,210.125,41.300,0.000,27.376,30.372,258.300,0.000,0.000,17.344,2626.951,9123.759,365.071,2777.310,131.030,0.000,1347.274,0.000,2305.751,0.000,0.539,0.000
$DEVICE_MAMPS,276.165,73.440,1292.085,59.670,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,739.328,1990.509,807.582,461.654,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353212
$DATA_FILE_SIZE,73738,1061
$CAP_FILE_SIZE,137032,0
$CFSIZE,2097086464,2078507008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170815,125704,-4505.422,624.942,45,0.9,45,-24.4